OpenRaiser/Intern-Atlas huggingface dataset:
AISSISTANT: Human-AI Collaborative Review and Perspective Research Workflows in Data Science
Venue: arXiv cs.AI 2026
Year: 2026

High-quality scientific review and perspective papers require substantial time and effort, limiting researchers' ability to synthesize emerging knowledge. While Large Language Models (LLMs) leverage AI Scientists for scientific workflows, existing frameworks focus primarily on autonomous workflows with very limited human intervention. We introduce AIssistant, the first open-source agentic framework for Human--AI collaborative generation of scientific perspectives and review research in data science. AIssistant employs specialized LLM-driven agents augmented with external scholarly tools and allows human intervention throughout the workflow. The framework consists of two main multi-agent systems: Research Workflow with seven agents and a Paper Writing Workflow with eight agents. We conducted a comprehensive evaluation with both human expert reviewers and LLM-based assessment following NeurIPS standards. Our experiments show that OpenAI o1 achieves the highest quality scores on chain-of-thought prompting with augmented Literature Search tools. We also conducted a Human--AI interaction survey with results showing a 65.7\% time savings. We believe that our work establishes a baseline for Human--AI collaborative scientific workflow for review and perspective research in data science, demonstrating that agent-augmented pipelines substantially reduce effort while maintaining research integrity through strategic human oversight.
Building Coding Agents via Entropy-Enhanced Multi-Turn Preference Optimization
Venue: arXiv cs.AI 2026
Year: 2026

Software engineering presents complex, multi-step challenges for Large Language Models (LLMs), requiring reasoning over large codebases and coordinated tool use. The difficulty of these tasks is exemplified by benchmarks like SWE-bench, where current LLMs still struggle to resolve real-world issues. A promising approach to enhance performance is test-time scaling (TTS), but its gains are heavily dependent on the diversity of model outputs. While standard alignment methods such as Direct Preference Optimization (DPO) and Kahneman-Tversky Optimization (KTO) are effective at aligning model outputs with human preferences, this process can come at the cost of reduced diversity, limiting the effectiveness of TTS. Additionally, existing preference optimization algorithms are typically designed for single-turn tasks and do not fully address the complexities of multi-turn reasoning and tool integration required for interactive coding agents. To bridge this gap, we introduce EntroPO, an entropy-enhanced framework that adapts existing preference optimization algorithms to the multi-turn, tool-assisted setting. EntroPO augments the preference objective to explicitly preserve policy entropy and generalizes learning to optimize over multi-turn interactions rather than single-turn responses. We validate EntroPO by fine-tuning a diverse suite of models from different families and sizes (up to 106B parameters).To maximize performance gains from TTS, we further propose a hybrid best-trajectory selection scheme combining a learned verifier model with model free approaches. On the SWEBENCH leaderboard, our approach establishes new state-of-the-art results among open-weight models. A 30B parameter model trained with EntroPO ranks 1st on SWEBENCH-LITE and 4th on SWEBENCH-VERIFIED on the open-weight leaderboard, surpassed only by models with over 10x more parameters(e.g., >$350B).
EByFTVeS: Efficient Byzantine Fault Tolerant-based Verifiable Secret-sharing in Distributed Privacy-preserving Machine Learning
Venue: arXiv cs.CR 2026
Year: 2026

Verifiable Secret Sharing (VSS) has been widespread in Distributed Privacy-preserving Machine Learning (DPML), because invalid shares from malicious dealers or participants can be recognized by verifying the commitment of the received shares for honest participants. However, the consistency and the computation and communitation burden of the VSS-based DPML schemes are still two serious challenges. Although Byzantine Fault Tolerance (BFT) system has been brought to guarantee the consistency and improve the efficiency of the existing VSS-based DPML schemes recently, we explore an Adaptive Share Delay Provision (ASDP) strategy, and launch an ASDP-based Customized Model Poisoning Attack (ACuMPA) for certain participants in this paper. We theoretically analyzed why the ASDP strategy and the ACuMPA algorithm works to the existing schemes. Next, we propose an [E]fficient [By]zantine [F]ault [T]olerant-based [Ve]rifiable [S]ecret-sharing (EByFTVeS) scheme. Finally, the validity, liveness, consistency and privacy of the EByFTVeS scheme are theoretically analyzed, while the efficiency of the EByFTVeS scheme outperforms that of the-state-of-art VSS scheme according to comparative experiment results.
An open-source heuristic to reboot 2D nesting research
Venue: arXiv cs.CG 2026
Year: 2026

2D nesting problems rank among the most challenging cutting and packing problems. Yet, despite their practical relevance, research over the past decade has seen remarkably little progress. One reasonable explanation could be that nesting problems are already solved to near optimality, leaving little room for improvement. However, as our paper demonstrates, we are not at the limit after all. This paper presents $\texttt{sparrow}$, an open-source heuristic approach to solving 2D irregular strip packing problems, along with ten new real-world instances for benchmarking. Our approach decomposes the optimization problem into a sequence of feasibility problems, where collisions between items are gradually resolved. $\texttt{sparrow}$ consistently outperforms the state of the art - in some cases by an unexpectedly wide margin. We are therefore convinced that the aforementioned stagnation is better explained by both a high barrier to entry and a widespread lack of reproducibility. By releasing $\texttt{sparrow}$'s source code, we directly address both issues. At the same time, we are confident there remains significant room for further algorithmic improvement. The ultimate aim of this paper is not only to take a single step forward, but to reboot the research culture in the domain and enable continued, reproducible progress.
From Next Token Prediction to (STRIPS) World Models
Venue: arXiv cs.AI 2026
Year: 2026

We study whether next-token prediction can yield world models that truly support planning, in a controlled symbolic setting where propositional STRIPS action models are learned from action traces alone and correctness can be evaluated exactly. We introduce two architectures. The first is the STRIPS Transformer, a symbolically aligned model grounded in theoretical results linking transformers and the formal language structure of STRIPS domains. The second is a standard transformer architecture without explicit symbolic structure built in, for which we study different positional encoding schemes and attention aggregation mechanisms. We evaluate both architectures on five classical planning domains, measuring training accuracy, generalization, and planning performance across domains and problem sizes. Interestingly, both approaches can be used to produce models that support planning with off-the-shelf STRIPS planners over exponentially many unseen initial states and goals. Although the STRIPS Transformer incorporates a strong symbolic inductive bias, it is harder to optimize and requires larger datasets to generalize reliably. In contrast, a standard transformer with stick-breaking attention achieves near-perfect training accuracy and strong generalization. Finally, standard transformers without stick-breaking attention do not generalize to long traces, whereas a symbolic STRIPS model extracted from a transformer trained on shorter traces does.
DuetUI: A Bidirectional Context Loop for Human-Agent Co-Generation of Task-Oriented Interfaces
Venue: arXiv cs.HC 2026
Year: 2026

Large Language Models are reshaping task automation, yet remain limited in complex, multi-step real-world tasks that require aligning with vague user intent and enabling dynamic user override. From a formative study with 12 participants, we found that end-users actively seek to shape task-oriented interfaces rather than relying on one-shot outputs. To address this, we introduce the human-agent co-generation paradigm, materialized in DuetUI. This LLM-empowered system unfolds alongside task progress through a bidirectional context loop-the agent scaffolds the interface by decomposing the task, while the user's direct manipulations implicitly steer the agent's next generation step. In a technical ablation study and a user study with 24 participants, DuetUI improved task efficiency and interface usability, supporting more seamless human-agent collaboration. Our contributions include the proposal of this novel paradigm, the design of a proof-of-concept DuetUI prototype embodying it, and empirical and technical insights from an initial evaluation of how this bidirectional loop may help align agents with human intent and inform future development.
PERSEUS: Perception with Semantic Endoscopic Understanding and SLAM
Venue: arXiv cs.RO 2026
Year: 2026

Purpose: Natural orifice surgeries minimize the need for incisions and reduce the recovery time compared to open surgery; however, they require a higher level of expertise due to visualization and orientation challenges. We propose a perception pipeline for these surgeries that allows semantic scene understanding. Methods: We bring learning-based segmentation, depth estimation, and 3D reconstruction modules together to create real-time segmented maps of the surgical scenes. Additionally, we use registration with robot poses to solve the scale ambiguity of mapping from monocular images, and allow the use of semantically informed real-time reconstructions in robotic surgeries. Results: We achieve sub-milimeter reconstruction accuracy based on average one-sided Chamfer distances, average pose registration RMSE of 0.9 mm, and an estimated scale within 2% of ground truth. Conclusion: We present a modular perception pipeline, integrating semantic segmentation with real-time monocular SLAM for natural orifice surgeries. This pipeline offers a promising solution for scene understanding that can facilitate automation or surgeon guidance.
Vistoria: A Multimodal System to Support Fictional Story Writing through Instrumental Text-Image Co-Editing
Venue: arXiv cs.HC 2026
Year: 2026

Humans think visually-we remember in images, dream in pictures, and use visual metaphors to communicate. Yet, most creative writing tools remain text-centric, limiting how authors plan and translate ideas. We present Vistoria, a system for synchronized text-image co-editing in fictional story writing that treats visuals and text as coequal narrative materials. A formative Wizard-of-Oz co-design study with 10 story writers revealed how sketches, images, and annotations serve as essential instruments for ideation and organization. Drawing on theories of Instrumental Interaction and Structural Mapping, Vistoria introduces multimodal operations-lasso, collage, filters, and perspective shifts that enable seamless narrative exploration across modalities. A controlled study with 12 participants shows that co-editing enhances expressiveness, immersion, and collaboration, enabling writers to explore divergent directions, embrace serendipitous randomness, and trace evolving storylines. While multimodality increased cognitive demand, participants reported stronger senses of authorship and agency. These findings demonstrate how multimodal co-editing expands creative potential by balancing abstraction and concreteness in narrative development.
Towards a Physics Foundation Model
Venue: arXiv cs.LG 2026
Year: 2026

Foundation models have revolutionized natural language processing through a ``train once, deploy anywhere'' paradigm, where a single pre-trained model adapts to countless downstream tasks without retraining. Access to a Physics Foundation Model (PFM) would be transformative - democratizing access to high-fidelity simulations, accelerating scientific discovery, and eliminating the need for specialized solver development. Yet current physics-aware machine learning approaches remain fundamentally limited to single, narrow domains and require retraining for each new system. We present the General Physics Transformer (GPhyT), trained on 1.8 TB of diverse simulation data, that demonstrates foundation model capabilities are achievable for physics. Our key insight is that transformers can learn to infer governing dynamics from context, enabling a single model to simulate fluid-solid interactions, shock waves, thermal convection, and multi-phase dynamics without being told the underlying equations. GPhyT achieves three critical breakthroughs: (1) superior performance across multiple physics domains, outperforming specialized architectures by more than 7x, (2) plausible zero-shot generalization to entirely unseen physical systems through in-context learning, and (3) more stable long-term predictions through long-horizon rollouts. By establishing that a single model can learn generalizable physical principles from data alone, this work opens the path toward a universal PFM that could transform computational science and engineering.
On Solving Asymmetric Diagonally Dominant Linear Systems in Sublinear Time
Venue: arXiv cs.DS 2026
Year: 2026

We initiate a study of solving a row/column diagonally dominant (RDD/CDD) linear system $Mx=b$ in sublinear time, with the goal of estimating $t^{\top}x^*$ for a given vector $t\in R^n$ and a specific solution $x^*$. This setting naturally generalizes the study of sublinear-time solvers for symmetric diagonally dominant (SDD) systems [AKP19] to the asymmetric case. Our first contributions are characterizations of the problem's mathematical structure. We express a solution $x^*$ via a Neumann series, prove its convergence, and upper bound the truncation error on this series through a novel quantity of $M$, termed the maximum $p$-norm gap. This quantity generalizes the spectral gap of symmetric matrices and captures how the structure of $M$ governs the problem's computational difficulty. For systems with bounded maximum $p$-norm gap, we develop a collection of algorithmic results for locally approximating $t^{\top}x^*$ under various scenarios and error measures. We derive these results by adapting the techniques of random-walk sampling, local push, and their bidirectional combination, which have proved powerful for special cases of solving RDD/CDD systems, particularly estimating PageRank and effective resistance on graphs. Our general framework yields deeper insights, extended results, and improved complexity bounds for these problems. Notably, our perspective provides a unified understanding of Forward Push and Backward Push, two fundamental approaches for estimating random-walk probabilities on graphs. Our framework also inherits the hardness results for sublinear-time SDD solvers and local PageRank computation, establishing lower bounds on the maximum $p$-norm gap or the accuracy parameter. We hope that our work opens the door for further study into sublinear solvers, local graph algorithms, and directed spectral graph theory.
MetricNet: Recovering Metric Scale in Generative Navigation Policies
Venue: arXiv cs.RO 2026
Year: 2026

Generative navigation policies have made rapid progress in improving end-to-end learned navigation. Despite their promising results, this paradigm has two structural problems. First, the sampled trajectories exist in an abstract, unscaled space without metric grounding. Second, the control strategy discards the full path, instead moving directly towards a single waypoint. This leads to short-sighted and unsafe actions, moving the robot towards obstacles that a complete and correctly scaled path would circumvent. To address these issues, we propose MetricNet, an effective add-on for generative navigation that predicts the metric distance between waypoints, grounding policy outputs in metric coordinates. We evaluate our method in simulation with a new benchmarking framework and show that executing MetricNet-scaled waypoints significantly improves both navigation and exploration performance. Beyond simulation, we further validate our approach in real-world experiments. Finally, we propose MetricNav, which integrates MetricNet into a navigation policy to guide the robot away from obstacles while still moving towards the goal.
When Avatars Have Personality: Effects on Engagement and Communication in Immersive Medical Training
Venue: arXiv cs.HC 2026
Year: 2026

While virtual reality (VR) excels at simulating physical environments, its effectiveness for training complex interpersonal skills is limited by a lack of psychologically plausible virtual humans. This gap is particularly critical in medical education, where communication is a core clinical competency. This paper introduces a framework that integrates large language models (LLMs) into immersive VR to create medically coherent virtual patients with distinct, consistent personalities, based on a modular architecture that decouples personality from clinical data. We evaluated the system in a mixed-methods, within-subjects study with licensed physicians conducting simulated consultations. Results suggest that the approach is feasible and perceived as a rewarding and effective training enhancement. Our analysis highlights key design principles, including a "realism-verbosity paradox" and the importance of challenges being perceived as clinically authentic to support learning.
Algorithms for Optimizing Acyclic Queries
Venue: arXiv cs.DB 2026
Year: 2026

Most research on query optimization has centered on binary join algorithms like hash join and sort-merge join. However, recent years have seen growing interest in theoretically optimal algorithms, notably Yannakakis' algorithm. These algorithms rely on join trees, which differ from the operator trees for binary joins and require new optimization techniques. We propose three approaches to constructing join trees for acyclic queries. First, we give an algorithm to enumerate all join trees of an alpha-acyclic query by edits with amortized constant delay, which forms the basis of a cost-based optimizer for acyclic joins. Second, we show that the Maximum Cardinality Search algorithm by Tarjan and Yannakakis constructs a unique shallowest join tree, rooted at any relation, for a Berge-acyclic query; this tree enables parallel execution of large join queries. Finally, we prove that any connected left-deep linear plan for a gamma-acyclic query can be converted into a join tree by a simple algorithm, allowing reuse of optimization infrastructure developed for binary joins.
Event-LAB: Towards Standardized Evaluation of Neuromorphic Localization Methods
Venue: arXiv cs.RO 2026
Year: 2026

Event-based localization research and datasets are a rapidly growing area of interest, with a tenfold increase in the cumulative total number of published papers on this topic over the past 10 years. Whilst the rapid expansion in the field is exciting, it brings with it an associated challenge: a growth in the variety of required code and package dependencies as well as data formats, making comparisons difficult and cumbersome for researchers to implement reliably. To address this challenge, we present Event-LAB: a new and unified framework for running several event-based localization methodologies across multiple datasets. Event-LAB is implemented using the Pixi package and dependency manager, that enables a single command-line installation and invocation for combinations of localization methods and datasets. To demonstrate the capabilities of the framework, we implement two common event-based localization pipelines: Visual Place Recognition (VPR) and Simultaneous Localization and Mapping (SLAM). We demonstrate the ability of the framework to systematically visualize and analyze the results of multiple methods and datasets, revealing key insights such as the association of parameters that control event collection counts and window sizes for frame generation to large variations in performance. The results and analysis demonstrate the importance of fairly comparing methodologies with consistent event image generation parameters. Our Event-LAB framework provides this ability for the research community, by contributing a streamlined workflow for easily setting up multiple conditions.
Controlling Language Difficulty in Dialogues with Linguistic Features
Venue: arXiv cs.CL 2026
Year: 2026

Large language models (LLMs) have emerged as powerful tools for supporting second language acquisition, particularly in simulating interactive dialogues for speaking practice. However, adapting the language difficulty of LLM-generated responses to match learners' proficiency levels remains a challenge. This work addresses this issue by proposing a framework for controlling language proficiency in educational dialogue systems. Our approach leverages three categories of linguistic features, readability features (e.g., Flesch-Kincaid Grade Level), syntactic features (e.g., syntactic tree depth), and lexical features (e.g., simple word ratio), to quantify and regulate text complexity. We demonstrate that training LLMs on linguistically annotated dialogue data enables precise modulation of language proficiency, outperforming prompt-based methods in both flexibility and stability. To evaluate this, we introduce Dilaprix, a novel metric integrating the aforementioned features, which shows strong correlation with expert judgments of language difficulty. Empirical results reveal that our approach achieves superior controllability of language proficiency while maintaining high dialogue quality.
Online reinforcement learning via sparse Gaussian mixture model Q-functions
Venue: arXiv cs.LG 2026
Year: 2026

This paper introduces a structured and interpretable online policy-iteration framework for reinforcement learning (RL), built around the novel class of sparse Gaussian mixture model Q-functions (S-GMM-QFs). Extending earlier work that trained GMM-QFs offline, the proposed framework develops an online scheme that leverages streaming data to encourage exploration. Model complexity is regulated through sparsification by Hadamard overparametrization, which mitigates overfitting while preserving expressiveness. The parameter space of S-GMM-QFs is naturally endowed with a Riemannian manifold structure, allowing for principled parameter updates via online gradient descent on a smooth objective. Numerical experiments show that S-GMM-QFs match or even outperform dense deep RL (DeepRL) methods on standard benchmarks while using significantly fewer parameters. Moreover, they maintain strong performance even in low-parameter regimes where sparsified DeepRL methods fail to generalize.